Evaluation Metrics. We use mean accuracy and mean IoU as evaluation metrics, which are commonly used in prior works on semantic segmentation [1]} [2]} [3]}. We note that both mean accuracy and mean IoU are important metrics for semantic segmentation. While a good mean IOU indicates a balanced performance of precision and recall, mean accuracy is an indicator of the detection rate of each class, which is important for safety-critical applications such as self-driving.
